Use of a radar sensor having a waveguide antenna array for a method for determining an estimated ego velocity value and an estimated angle value of targets

A method for determining an estimated ego velocity value and an estimated angle value of targets using a radar sensor with a waveguide antenna array, having at least two groups of antenna units having a plurality of antenna elements, wherein the antenna elements in each of the antenna units are arranged next to one another in a first direction, wherein, in a first group of the at least two groups of antenna units, the antenna units are arranged offset with respect to one another in a second direction perpendicular to the first direction, and wherein, in a second group of the at least two groups of antenna units, the antenna units are arranged offset with respect to one another in the first direction, the method comprising the following steps:

• measuring using the radar sensor, a distance between the radar sensor and each respective target;
• measuring, using the radar sensor, a relative velocity of each respective target using a Doppler effect;
• estimating a respective estimated angle value characterizing an angle between a direction of the radar sensor's ego velocity and each respective target;
• ascertaining an individual estimated ego velocity value of the radar sensor using the relative velocity and the estimated angle value for each target;
• classifying and subdividing the individual estimated ego velocity values in regard to stationary targets, the individual estimated ego velocity values of which lie within a predefinable range with respect to one another, and in regard to moving targets, the individual estimated ego velocity values of which lie outside the range;
• ascertaining a combined estimated ego velocity value from the individual estimated ego velocity values of the stationary targets;
• and
• ascertaining a corrected estimated angle value for each of the stationary targets using the combined estimated ego velocity value and the respective measured relative velocity.